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Add exceptions for non double export from controllers #2904

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Add exceptions for non double export from controllers #2904

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4a4f266
Add exceptions for non double export
saikishor Dec 18, 2025
c8d694b
Merge branch 'master' into add/exception/non-double-export
saikishor Dec 18, 2025
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21 changes: 21 additions & 0 deletions controller_interface/src/chainable_controller_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -62,6 +62,17 @@ ChainableControllerInterface::export_state_interfaces()
// check if the names of the controller state interfaces begin with the controller's name
for (const auto & interface : state_interfaces)
{
if (interface.get_data_type() != hardware_interface::HandleDataType::DOUBLE)
{
const std::string error_msg = fmt::format(
FMT_COMPILE(
"The data type of the interface '{}' ({}) is not of type 'double'. "
"Unfortunately, only 'double' data type is supported for state interfaces. "
"No state interface will be exported. Please correct and recompile the controller "

@bmagyar bmagyar Dec 18, 2025

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could you please also put some documentation on this onto an issue and reference that in these messages? that way people in the future will be able to follow up on where we stand on it

@saikishor saikishor Dec 18, 2025

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I can do that

"with name '{}' and try again."),
interface.get_name(), interface.get_data_type().to_string(), get_node()->get_name());
throw std::runtime_error(error_msg);
}
if (interface.get_prefix_name().find(get_node()->get_name()) != 0)
{
const std::string error_msg = fmt::format(
Expand Down Expand Up @@ -143,6 +154,16 @@ ChainableControllerInterface::export_reference_interfaces()
const auto ref_interface_size = reference_interfaces.size();
for (auto & interface : reference_interfaces)
{
if (interface.get_data_type() != hardware_interface::HandleDataType::DOUBLE)
{
std::string error_msg = fmt::format(
FMT_COMPILE(
"The data type of the interface '{}' ({}) is not of type 'double'. "
"Unfortunately, only 'double' data type is supported for reference interfaces. "
"Please correct and recompile the controller with name '{}' and try again."),
interface.get_name(), interface.get_data_type().to_string(), get_node()->get_name());
throw std::runtime_error(error_msg);
}
if (interface.get_prefix_name().find(get_node()->get_name()) != 0)
{
std::string error_msg = fmt::format(
Expand Down
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